Rviz map position issue

edit

I mapped the willow garage office using Gmapping and saved the map using the map_server node. My launch file has the following fragment to load the saved map:

<!-- Map Server -->
    <arg name='map' value='$(find my_bot)/maps/willow_garage_map.yaml'/>
    <node name="map_server" pkg="map_server" type="map_server" output="screen" args='$(arg map)'/>

But I get the strangest results in rviz. The map and the robot are located quite a distance away from each other.

My robot with lidar detecting "invisible walls"

My robot and map seem to want a divorce

I would appreciate some help to understand what I've done wrong and how I can unite robot and map so I can carry out some path planning and navigation.

UPDATE #1 :

Contents of willow_garage_map.yml :

image: willow_garage_map.pgm
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

I also discovered the Map display of Rviz has an configured with the /map topic geneates an error. I confirmed the map topic exists and also has data published into it.

UPDATE #2 :

rosrun tf tf_echo map odom

Failure at 157.725000000
Exception thrown:"map" passed to lookupTransform argument target_frame does not exist. 
The current list of frames is:
Frame hokuyo_link exists with parent chasis.
Frame chasis exists with parent odom.
Frame left_camera exists with parent chasis.
Frame overwatch_camara exists with parent chasis.
Frame right_camera exists with parent chasis.

Failure at 157.725000000
Exception thrown:"map" passed to lookupTransform argument target_frame does not exist. 
The current list of frames is:
Frame hokuyo_link exists with parent chasis.
Frame chasis exists with parent odom.
Frame left_camera exists with parent chasis.
Frame overwatch_camara exists with parent chasis.
Frame right_camera exists with parent chasis.

Failure at 158.725000000
Exception thrown:"map" passed to lookupTransform argument target_frame does not exist. 
The current list of frames is:
Frame hokuyo_link exists with parent chasis.
Frame chasis exists with parent odom.
Frame left_camera exists with parent chasis.
Frame overwatch_camara exists with parent chasis.
Frame right_camera exists with parent chasis.
Frame wheel_left_aft exists with parent chasis.
Frame wheel_left_fore exists with parent chasis.
Frame wheel_right_aft exists with parent chasis.
Frame wheel_right_fore exists with parent chasis.

And . . . (my base_link is called chasis)

rosrun tf tf_echo odom chasis

At time 298.426
- Translation: [0.001, -0.019, 0.350]
- Rotation: in Quaternion [0.000, 0.000, -0.033, 0.999]
            in RPY (radian) [0.000, 0.000, -0.066]
            in RPY (degree) [0.000, 0.000, -3.776]
At time 298.426
- Translation: [0.001, -0.019, 0.350]
- Rotation: in Quaternion [0.000, 0.000, -0.033, 0.999]
            in RPY (radian) [0.000, 0.000, -0.066]
            in RPY (degree) [0.000, 0.000, -3.776]
At time 299.426
- Translation: [0.001, -0.019, 0.350]
- Rotation: in Quaternion [0.000, -0.000, -0.033, 0.999]
            in RPY (radian) [0.000, -0.000, -0.066]
            in RPY (degree) [0.000, -0.000, -3.789]
At time 300.426 ...